October 2015
Intermediate to advanced
588 pages
24h 51m
English
Content preview from Cyber-Physical Systems
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Robotic Operations Network 279
Robotic server
+
+
+
JC
Jo
+
–
–
+
Transporter
Joystick
regulator
Oper-
ator
Adaptation modules
{A}
Environ-
ment
Robot
Robotic
regulator
f
e
T
f
f
e
p
s
p
s
T
b
f
c
f
m
p
m
f
h
T
NT
f
p
NT΄
T΄
f
e
΄
C=p
m
p
s
΄
NC
NC΄
C΄=
pm
΄
Joystick
FIGURE 10.15 “Kontur-2” control circuit scheme.
robot position p
s
can be used, and if there are appropriate sensors, the force vector of environmental
impact f
e
can also be used.
For such a network control problem, queuing theory is a powerful tool. The Transporter is imple-
mented using a preemptive queuing system [7–10]. The remote robot control with force-torque
sensitization requires that during the control process, that operator has to be able ...
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